Fixes modify_action_space in RslRlVecEnvWrapper #2185
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Mayankm96
reviewed
Mar 31, 2025
Signed-off-by: Mayank Mittal <[email protected]>
Mayankm96
approved these changes
Mar 31, 2025
Signed-off-by: Mayank Mittal <[email protected]>
Mayankm96
reviewed
Mar 31, 2025
Signed-off-by: Mayank Mittal <[email protected]>
|
@felipemohr Thanks a lot for the MR. Could you please modify the extension.toml file again to match the CHANGELOG version? The last merge omit this out. Thank you! |
Sure! Done |
Mayankm96
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Mar 31, 2025
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* Removes hamburger icon in template generator README (isaac-sim#2111) # Description This PR fixes isaac-sim#2094. Hamburger icon in the readme was causing encoding errors. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes default effort limit behavior for implicit actuators (isaac-sim#2098) # Description This MR fixes the default behavior of implicit actuators if no effort limit is set. Previously, the check was using the class variable value instead of self which led to the wrong values getting propogated. Fixes isaac-sim#2054 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: James Tigue <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> * Fixes docstrings inconsistencies the code (isaac-sim#2112) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> * Fixed the mismatch in :class:`JointPositionToLimitsActionCfg` docstring which was incorrectly referring to ``JointPositionWithinLimitsAction`` instead of ``JointPositionToLimitsAction``. * Fixed the issue of the :attr:`solver_velocity_iteration_count` docstring in :class:`ArticulationRootPropertiesCfg` being incorrect. * Fixed the mismatch between the default value of :attr:`use_cache` in :class:`TerrainGeneratorCfg` and its docstring. Currently, the default value is set to ``False``. Fixes isaac-sim#1330, isaac-sim#1377, isaac-sim#1827 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Mayank Mittal <[email protected]> * Adds Gymnasium spaces showcase tasks (isaac-sim#2109) # Description This PR add a set of Direct-workflow tasks that showcase the definition/use of the various Gymnasium observation and action spaces supported in Isaac Lab. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <[email protected]> * Fixes missing stage recorder extension for animation recorder (isaac-sim#2125) # Description The default python base app file was missing the necessary extension dependencies to enable the animation recorder. "omni.kit.stagerecorder.bundle" is now added as a dependency, which should enable the recording functionality again. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Adds more details about state in InteractiveScene (isaac-sim#2119) # Description It was hard to understand what the scene's state means unless you check the code. This MR adds more docstrings to make this simpler to understand. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes ground height in factory environment (isaac-sim#2071) # Description The table in the factory environment was initially positioned halfway into the ground due to an incorrect height translation. This PR corrects the initialization height to properly align the table with the ground, resolving the issue. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots | Before | After | | ------ | ----- | |  |  | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Removes double definition of render settings (isaac-sim#2083) # Description The definition of render settings in `SimulationCfg` is changed to None, which means that the default settings will be used from the experience files, and the double definition is removed. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Pascal Roth <[email protected]> * Adds texture and scale randomization event terms (isaac-sim#2121) # Description - Added back texture randomization event term - Carrying over texture randomization and scale randomization unit tests from previous PRs - Added additional replicate physics failure case test ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Adds replicator event for randomizing colors (isaac-sim#2153) # Description This MR adds a replicator event to randomize the color of meshes on an asset. Currently, this supports only a single mesh. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots ```bash python scripts/tutorials/03_envs/create_cube_base_env.py ```  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Mounts scripts to docker container (isaac-sim#2152) # Description The directory changes were not propagated to the docker file. This MR fixes this issue. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Initializes manager term classes only when sim starts (isaac-sim#2117) # Description To support creation of managers before the simulation starts playing (as needed by the event manager for USD randomizations), the MR in isaac-sim#2040 added a callback to resolve scene entities at runtime. However, certain class-based manager terms can also not be initialized if the simulation is not playing. Those terms may often rely on parameters that are only available once simulation plays (for instance, joint position limits). This MR moves the initializations of class-based manager terms to the callback too. Fixes isaac-sim#2136 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <[email protected]> * Fixes device settings in env tutorials (isaac-sim#2151) # Description The environment examples were not setting the device properly. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Mayank Mittal <[email protected]> * Fixes template generator (isaac-sim#2161) # Description Fix template generator: - Fix `rsl_rl` agent configuration - Don't list `skrl`'s multi-agent algorithms for single-agent tasks - Don't list `rsl_rl` and `sb3` for multi-agent tasks - Update docs to include usage steps for the generated internal task ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes CI tests and documentation (isaac-sim#2160) # Description Some environment tests were hitting memory constraints when run with 32 environments, we limit these to only single env tests now. Additionally, there were reports of torchvision and torch version mismatch, we now include both in the installation commands. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Changes default ground color back to dark grey (isaac-sim#2164) # Description This MR fixes the ground color to the original dark grey instead of a grey-ish blue shade. The change was introduced in isaac-sim#1791 and was unintentional. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots | Before | After | | ------ | ----- | |  |  | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Kelly Guo <[email protected]> * Fixes env test failure for Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 (isaac-sim#2156) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Fixes the environment test failure for Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0. The env uses a custom image observation term which tries to access an element in the recorder manager. During env creation, the observation manager is initialized before the recorder manager, thus causing an error in the observation term. The custom image obs term has been updated to only try to access the element in the recorder manager if it exists. Fixes # (issue) Environment test failure of Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <[email protected]> * Initialize extras dict before loading managers (isaac-sim#2178) # Description Unable to add new entries to self.extras dictionary in ManagerBasedEnv because the dictionary was initialised after loading the managers. Fixes isaac-sim#2177 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Updates to latest RSL-RL v2.3.0 release (isaac-sim#2154) # Description This MR introduces multi-GPU training for RSL-RL library. Also adds configuration options for symmetry and RND. Compatible only with RSL-RL v2.3.0 onwards so fixing the version. Fixes isaac-sim#2180 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes typos in development.rst (isaac-sim#2181) # Description Fixed typos in the documentation (development.rst). ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Screenshots Not applicable. ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Victor Khaustov <[email protected]> * Fixes carb subscription API for gamepad device (isaac-sim#2173) # Description Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # SE2/3 gamepad that calling wrong omniverse API, [https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html#unsubscribing-the-gamepad-event-handler](url) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: AlvinC <[email protected]> * Fixes modify_action_space in RslRlVecEnvWrapper (isaac-sim#2185) # Description This PR corrects the position of the method `self._modify_action_space()` in the RSL-RL Wrapper, so that it is only called after retrieving the dimensions of the environment, preventing errors related to the use of uninitialized attributes when using `clip_actions` in `RslRlVecEnvWrapper`. Fixes isaac-sim#2184 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> * Fixes distributed setup in benchmarking scripts (isaac-sim#2194) # Description Previously, benchmark scripts were stopping the benchmark outside of the global rank check and this occasionally causes issues on processes with global ranks > 0. This change moves the call to be inside the if statement such that it is only called on the rank 0 process. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes typo `RF_FOOT` to `RH_FOOT` in tutorials (isaac-sim#2200) # Description Fixes isaac-sim#2169 ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: gao <[email protected]> * Skips dependency installation for directories with no extension.toml (isaac-sim#2216) ## Description Previously empty or non-extension directories in the `source` folder caused installation to crash, forcing users to delete the empty directory. This MR replaces raising the error with a warning print. ## Type of change - Bug fix - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Updates stack instance randomization default environments (isaac-sim#2251) # Description The instance randomization stack environments have multiple cameras in the scene, which requires heavy resources on large numbers of environments. This PR reduces the default environment so that they can be run with less memory resources. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes device parsing in policy inference tutorial (isaac-sim#2250) # Description The model in the policy inference tutorial needs to be moved to the correct device based on the command line argument input. Otherwise, it will cause device mismatch errors as policy defaults to the CPU while environment defaults to GPU. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Moves segmentation workaround to base Camera class (isaac-sim#2243) # Description Moves segmentation workaround to base Camera class as the bug on instanceable assets was also affecting the non-tiled cameras. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Checks if success term exists before recording in RecorderManager (isaac-sim#2218) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Adds a check in RecorderManager to only record success results if success termination term exists. Fixes isaac-sim#2190 Fixes recorder crash if added to ManagerBasedEnv. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Unsubscribes from debug vis handle when timeline is stopped (isaac-sim#2214) # Description This PR fixes a bug where old callbacks for sensors were being called after the scene had been cleared, resulting in exceptions and a crash of extensions built off of Isaac Lab. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes wait time in `play.py` by using `env.step_dt` (isaac-sim#2239) # Description When running `play.py` with `--real-time`, the dt used to calculate this is incorrect. It is currently using `env.physics_dt`, which is `sim_dt`. However, if the decimation is >1, then the effective dt is `env.step_dt`, which is `sim_dt * decimation`. We are running 1 env.step() per loop, so this should definitely be `env.step_dt`. This affects all reinforcement_learning/<rl_library>/play.py files. This updates all of these appropriately Fixes isaac-sim#2230 ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] (No need for test for small change in script) I have added tests that prove my fix is effective or that my feature works - [x] (No need for changelog in scripts) I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Tyler Lum <[email protected]> * Fixes 50 series installation instruction to include torchvision (isaac-sim#2258) # Description Running on 50 series GPUs requires the latest nightly build of pytorch. Previously, we only included instructions for installing torch, but torchvision is also required, which sometimes caused version mismatch errors. This change fixes the instructions to include both torch and torchvision. Fixes isaac-sim#2226 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change - This change requires a documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Clarifies layer instructions in animation docs (isaac-sim#2240) # Description I tried following the "Recording Animations of Simulations" instructions (https://isaac-sim.github.io/IsaacLab/main/source/how-to/record_animation.html) Most of the instructions were very clear. I was able to create the `Stage.usd` and `TimeSample_tk001.usd` files. However, I struggled on this step: "On a new stage, add the Stage.usd as a sublayer and then add the TimeSample_tk001.usd as a sublayer. You can do this by dragging and dropping the files from the file explorer to the stage. " I submitted an issue and it was clear that a documentation update would be helpful. Fixes isaac-sim#2232 ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] (Docs only) I have added tests that prove my fix is effective or that my feature works - [x] (Docs only) I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: Mayank Mittal <[email protected]> * Adds dummy agents to the external task template generator (isaac-sim#2221) # Description Adds the dummy agents when generating an Isaac Lab's external project. Useful when debugging! ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes importing MotionViewer from external scripts (isaac-sim#2195) # Description The `MotionViewer` class is not imported in `__init__.py`, preventing external scripts from using this class. This PR fixes this issue such that the MotionViewer class can be imported by external scripts. The example usage would look like: ```python from isaaclab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher(headless=True) simulation_app = app_launcher.app """Rest everything follows.""" from isaaclab_tasks.direct.humanoid_amp.motions import MotionViewer ``` Fixes isaac-sim#2196 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Lowers the default number of environments for camera envs (isaac-sim#2287) # Description Some example environments with rendering required an extensive amount of VRAM that's likely not available on mid/lower end GPUs. This PR reduces the default number of environments so that these examples can be more accessible for users to try. Policy can still train with the lowered number of environments. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Resets cuda device after each app.update call (isaac-sim#2283) # Description Calling app.update may change the cuda device that was previously set by Isaac Lab. This change forces the cuda device to be set back to the desired device after each app.update call made in SimulationContext in reset, step, and render. This fixes NCCL errors on distributed setups for certain environments (especially when rendering is enabled), where previously it would generate errors that different ranks were running on the same device. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: James Tigue <[email protected]> Signed-off-by: Pascal Roth <[email protected]> Signed-off-by: Mayank Mittal <[email protected]> Signed-off-by: Victor Khaustov <[email protected]> Signed-off-by: AlvinC <[email protected]> Signed-off-by: Tyler Lum <[email protected]> Co-authored-by: Toni-SM <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Wei Jinqi <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Louis LE LAY <[email protected]> Co-authored-by: Pascal Roth <[email protected]> Co-authored-by: Harsh Patel <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: peterd-NV <[email protected]> Co-authored-by: Kousheek Chakraborty <[email protected]> Co-authored-by: Victor Khaustov <[email protected]> Co-authored-by: AlvinC <[email protected]> Co-authored-by: Felipe Mohr <[email protected]> Co-authored-by: AdAstra7 <[email protected]> Co-authored-by: gao <[email protected]> Co-authored-by: James Smith <[email protected]> Co-authored-by: Tyler Lum <[email protected]> Co-authored-by: -T.K.- <[email protected]>
ToxicNS
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Apr 24, 2025
# Description This PR corrects the position of the method `self._modify_action_space()` in the RSL-RL Wrapper, so that it is only called after retrieving the dimensions of the environment, preventing errors related to the use of uninitialized attributes when using `clip_actions` in `RslRlVecEnvWrapper`. Fixes isaac-sim#2184 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>
yrh012
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Jun 16, 2025
# Description This PR corrects the position of the method `self._modify_action_space()` in the RSL-RL Wrapper, so that it is only called after retrieving the dimensions of the environment, preventing errors related to the use of uninitialized attributes when using `clip_actions` in `RslRlVecEnvWrapper`. Fixes isaac-sim#2184 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>
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Description
This PR corrects the position of the method
self._modify_action_space()in the RSL-RL Wrapper, so that it is only called after retrieving the dimensions of the environment, preventing errors related to the use of uninitialized attributes when usingclip_actionsinRslRlVecEnvWrapper.Fixes #2184
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there